Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Correct swerve configuration #53

Merged
merged 1 commit into from
Aug 2, 2024
Merged

Correct swerve configuration #53

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 6 additions & 6 deletions src/main/java/org/team1540/robot2024/Constants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,10 +52,10 @@ public static class SwerveConfig {
public static final String CAN_BUS = "swerve";
public static final double CAN_UPDATE_FREQUENCY_HZ = 200.0;

public static final int FRONT_LEFT = IS_COMPETITION_ROBOT ? 1 : 9;
public static final int FRONT_RIGHT = IS_COMPETITION_ROBOT ? 7 : 2;
public static final int BACK_LEFT = IS_COMPETITION_ROBOT ? 4 : 6;
public static final int BACK_RIGHT = IS_COMPETITION_ROBOT ? 3 : 5;
public static final int FRONT_LEFT = 4;
public static final int FRONT_RIGHT = 3;
public static final int BACK_LEFT = 1;
public static final int BACK_RIGHT = 7;

public static final int PIGEON_ID = 9;
}
Expand Down Expand Up @@ -208,8 +208,8 @@ public static class Elevator {
public static final double CLIMBING_HOOKS_MAX_HEIGHT = CLIMBING_HOOKS_MINIMUM_HEIGHT + MAX_HEIGHT - MINIMUM_HEIGHT;

public static final double GEAR_RATIO = 11.571;
public static final int LEADER_ID = 7;
public static final int FOLLOWER_ID = 8;
public static final int LEADER_ID = 7; // RIGHT
public static final int FOLLOWER_ID = 8; // LEFT

public static final int LEFT_FLIPPER_ID = 1;

Expand Down
5 changes: 2 additions & 3 deletions src/main/java/org/team1540/robot2024/subsystems/drive/ModuleIOTalonFX.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,6 @@
import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.util.Units;
Expand Down Expand Up @@ -130,15 +129,15 @@ public void setTurnVoltage(double volts) {
@Override
public void setDriveBrakeMode(boolean enable) {
MotorOutputConfigs config = new MotorOutputConfigs();
config.Inverted = InvertedValue.CounterClockwise_Positive;
driveTalon.getConfigurator().refresh(config);
config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast;
driveTalon.getConfigurator().apply(config);
}

@Override
public void setTurnBrakeMode(boolean enable) {
MotorOutputConfigs config = new MotorOutputConfigs();
config.Inverted = IS_TURN_MOTOR_INVERTED ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
turnTalon.getConfigurator().refresh(config);
config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast;
turnTalon.getConfigurator().apply(config);
}
Expand Down
26 changes: 23 additions & 3 deletions src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,6 @@ public static class SwerveModuleHW {
public final TalonFX driveMotor;
public final TalonFX turnMotor;
public final CANcoder cancoder;

private SwerveModuleHW(int id, SwerveCorner corner, String canbus) {
if (id < 1 || id > 9) {
throw new IllegalArgumentException("Swerve module id must be between 1 and 9");
Expand All @@ -56,6 +55,27 @@ private SwerveModuleHW(int id, SwerveCorner corner, String canbus) {
canbus = "";
}

boolean invertTurn = true;
boolean invertDrive = true;
switch (corner) {
case FRONT_LEFT:
invertTurn = false;
invertDrive = false;
break;
case FRONT_RIGHT:
invertTurn = true;
invertDrive = false;
break;
case BACK_LEFT:
invertTurn = true;
invertDrive = false;
break;
case BACK_RIGHT:
invertTurn = false;
invertDrive = true;
break;
}
Comment on lines +60 to +77
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

ew.

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

would you prefer I use a hashmap


int driveID = 30 + id;
int turnID = 20 + id;
int canCoderID = 10 + id;
Expand All @@ -72,11 +92,11 @@ private SwerveModuleHW(int id, SwerveCorner corner, String canbus) {
driveConfig.CurrentLimits.SupplyCurrentThreshold = 60.0;
driveConfig.CurrentLimits.SupplyTimeThreshold = 0.1;
driveConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
driveConfig.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
driveConfig.MotorOutput.Inverted = invertDrive ? InvertedValue.CounterClockwise_Positive: InvertedValue.Clockwise_Positive;

turnConfig.CurrentLimits.SupplyCurrentLimit = 30.0;
turnConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
turnConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
turnConfig.MotorOutput.Inverted = invertTurn ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
turnConfig.Feedback.FeedbackRemoteSensorID = canCoderID;
turnConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder;
turnConfig.Feedback.SensorToMechanismRatio = 1.0;
Expand Down
Loading